KR20160127635A - Apparatus for driving voice coil actuator of camera and method thereof - Google Patents

Apparatus for driving voice coil actuator of camera and method thereof Download PDF

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Publication number
KR20160127635A
KR20160127635A KR1020160019799A KR20160019799A KR20160127635A KR 20160127635 A KR20160127635 A KR 20160127635A KR 1020160019799 A KR1020160019799 A KR 1020160019799A KR 20160019799 A KR20160019799 A KR 20160019799A KR 20160127635 A KR20160127635 A KR 20160127635A
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South Korea
Prior art keywords
signal
shaping
attenuation
voice coil
coil actuator
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KR1020160019799A
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Korean (ko)
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KR101783832B1 (en
Inventor
김영훈
윤민호
박진
이호준
Original Assignee
주식회사 동운아나텍
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Application filed by 주식회사 동운아나텍 filed Critical 주식회사 동운아나텍
Priority to US15/111,464 priority Critical patent/US9948226B2/en
Priority to CN201680000528.6A priority patent/CN107210696B/en
Priority to PCT/KR2016/004155 priority patent/WO2016175503A2/en
Priority to TW105112671A priority patent/TWI609566B/en
Publication of KR20160127635A publication Critical patent/KR20160127635A/en
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Publication of KR101783832B1 publication Critical patent/KR101783832B1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/032—Reciprocating, oscillating or vibrating motors
    • H02P25/034—Voice coil motors
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • G02B7/09—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted for automatic focusing or varying magnification
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B3/00—Focusing arrangements of general interest for cameras, projectors or printers
    • G03B3/10—Power-operated focusing
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/02—Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type
    • H02P7/025—Arrangements for regulating or controlling the speed or torque of electric DC motors the DC motors being of the linear type the DC motors being of the moving coil type, e.g. voice coil motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
    • H02P7/05—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors by means of electronic switching
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/02—Constructional features of telephone sets
    • H04M1/0202—Portable telephone sets, e.g. cordless phones, mobile phones or bar type handsets
    • H04M1/026—Details of the structure or mounting of specific components
    • H04M1/0264—Details of the structure or mounting of specific components for a camera module assembly
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • G02B7/10—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification by relative axial movement of several lenses, e.g. of varifocal objective lens
    • G02B7/102—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification by relative axial movement of several lenses, e.g. of varifocal objective lens controlled by a microcomputer

Abstract

Disclosed are a voice coil actuator driving device of a camera and a driving method thereof. The voice coil actuator driving device performs an input shaping based on a resonant frequency of a voice coil actuator and an attenuation of a vibration generated in the voice coil actuator to generate a control signal from an original control signal by using a shaping signal as an initial input, and drives the voice coil actuator according to the control signal on which the input shaping is performed. The shaping signal is for controlling a resonance of the voice coil actuator and can be a multi-step or toggle type pure shaping signal on which the attenuation is applied and which has a decreasing signal variation, or a convolution shaping signal which is obtained by convolving the pure shaping signals. According to the present invention, residual vibration suppression performance and auto-focusing performance of the voice coil actuator can be further improved by using an input shaping control considering the attenuation.

Description

TECHNICAL FIELD [0001] The present invention relates to a voice coil actuator for driving a voice coil actuator,

The present invention relates to a voice coil actuator (VCA), and more particularly, to an apparatus and method for driving a voice coil actuator of a camera.

In a camera module commonly used in mobile devices such as mobile phones, a voice coil actuator is mounted, and the auto focus is performed to focus on a specific object by changing the position of the lens by moving the actuator.

The voice coil actuator is a motor developed by focusing on the vibration of the diaphragm of the speaker due to the force generated by the Fleming's left-hand rule between the voice current flowing in the voice coil of the speaker and the magnetic force generated by the permanent magnet. Compared with a rotary motion of a DC motor or a stepping motor, a voice coil actuator can be used for precision tracking and focusing because it is reciprocated by a short distance.

The above-mentioned voice coil actuator itself is constituted by a large coil (L: inductor) component. However, the inductor (L) component of the voice coil actuator exhibits a high resonance response characteristic due to a specific resonance frequency and causes residual vibration during driving, thereby affecting the autofocus function or malfunction of the camera.

The applicant of the present invention has proposed an input shaping control technique capable of improving the autofocus performance of a camera by reducing unwanted residual vibration in Korean Patent Registration No. 10-0968851.

However, in the above-described input shaping control technique, since the attenuation is not considered, there is a problem that the residual vibration reduction effect is limited because there is attenuation in some form.

Korean Registered Patent No. 10-0968851, Published on Jul.

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the problems of the prior art as described above, and its object is to provide a voice coil of a camera which can more effectively remove residual vibration by input shaping control considering attenuation, And an actuator driving apparatus and method therefor.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. There will be.

In order to achieve the above object, a voice coil actuator driving apparatus for a camera according to the present invention performs input shaping based on a resonance frequency of a voice coil actuator and a vibration attenuation in the voice coil actuator to generate a shaping signal from a raw control signal An input shaper for generating a control signal as an initial input; And a driving unit for driving the voice coil actuator by a control signal provided with the input shaping provided by the input shaping unit.

In the voice coil actuator driving apparatus of a camera according to the present invention, the shaping signal may be a multi-step shaping signal or a toggle shaping signal, and the attenuation may be applied to attenuate the signal fluctuation width gradually.

In the apparatus for driving a voice coil actuator of a camera according to the present invention, the input shaping unit generates an impulse train corresponding to the resonance frequency and the attenuation, and generates the shaping signal by convoluting the generated impulse train with a reference signal have.

In the voice coil actuator driving apparatus of a camera according to the present invention, the input shaping unit generates a toggle shaping signal having a toggle interval, and applies an attenuation value to each toggle edge of the toggle shaping signal according to the attenuation, It is possible to gradually attenuate the signal fluctuation width of the signal.

In the apparatus for driving a voice coil actuator of a camera according to the present invention, the input shaping unit divides a target level into a plurality of steps to generate a multi-step shaping signal in which levels sequentially change, Step shaping signal is applied to each step of the multi-step shaping signal in accordance with the attenuation, thereby gradually attenuating the signal fluctuation width of each step.

In the voice coil actuator driving apparatus for a camera according to the present invention, the overall phase may be 360 degrees.

In the voice coil actuator driving apparatus for a camera according to the present invention, the total phase may be defined as an integer multiple of 360 degrees or a multiple of a multiple of 360 degrees.

In the apparatus for driving a voice coil actuator of a camera according to the present invention, the input shaping unit may be configured such that when the resonance period of the voice coil actuator is T vib , the target level is A, and the coefficient for each step is k i , - to the level of the step shaping the signal a - the level by step with respect to the step-shaping signal k i * (a / N) the multi each step so as to increase or decrease by as much as less than T vib / N is applied sequentially to T vib for .

In the voice coil actuator driving apparatus for a camera according to the present invention, the input shaping unit may distribute the phases of the respective steps so that the waveforms of the signals constituting the plurality of steps have a resonance period offset from each other.

In the voice coil actuator driving apparatus for a camera according to the present invention, the input shaping unit generates the shaping signal by convoluting a first shaping signal and a second shaping signal, wherein each of the first shaping signal and the second shaping signal includes a multi- - the shape may be such that the attenuation is applied as a step shaping signal or a toggle shaping signal so that the signal swing width is gradually attenuated.

The method of driving a voice coil actuator of a camera according to the present invention includes performing input shaping based on the resonance frequency of the voice coil actuator and the attenuation of the vibration appearing in the voice coil actuator to generate a control signal A first step of generating a first signal; And a second step of driving the voice coil actuator by the control signal having the input shaping.

In the method of driving a voice coil actuator of a camera according to the present invention, the shaping signal may be a multi-step shaping signal or a toggle shaping signal, in which the attenuation is applied to attenuate the signal fluctuation width gradually.

In the method of driving a voice coil actuator of a camera according to the present invention, the first step includes: generating a reference signal; Generating an impulse train corresponding to the resonant frequency and the attenuation; And generating a control signal by initializing the shaping signal by convoluting the generated impulse train with the reference signal.

In the method of driving a voice coil actuator according to the present invention, in the first step, a toggle shaping signal having a toggle interval is generated, and an attenuation value per edge is applied to each toggle edge of the toggle shaping signal in accordance with the attenuation, The signal fluctuation width of the edge can be gradually attenuated.

In the method for driving a voice coil actuator of a camera according to the present invention, in the first step, a target level is divided into a plurality of steps to generate a multi-step shaping signal in which the levels sequentially change, Phase shaping signal is applied to each step of the multi-step shaping signal in accordance with the attenuation, and the signal fluctuation width of each step can be gradually attenuated by applying the step-by-step attenuation value.

In the method of driving a voice coil actuator of a camera according to the present invention, the overall phase may be 360 °.

In the method of driving a voice coil actuator of a camera according to the present invention, the total phase may be defined as an integer multiple of 360 degrees or a multiple of a multiple of 360 degrees.

In the method of driving a voice coil actuator according to the present invention, in the first step, when the resonance period of the voice coil actuator is T vib , the target level is A, and the coefficient for each step is k i , a multi-level by a step with respect to the step-shaping signal k i * (a / N) of each step so as to increase or decrease by as much as less than T vib / N sequentially applied to T vib while the multi-level of the step shaping the signal a As shown in FIG.

In the method of driving a voice coil actuator of a camera according to the present invention, in the first step, the phase of each step may be distributed such that the waveforms of the signals constituting the plurality of steps have a resonance period canceled each other.

In the method of driving a voice coil actuator of a camera according to the present invention, in the first step, the first shaping signal and the second shaping signal are generated by convoluting a first shaping signal and a second shaping signal, The attenuation may be applied as a multi-step shaping signal or a toggle shaping signal so that the signal fluctuation width is gradually attenuated.

According to the apparatus and method for driving a voice coil actuator of a camera according to the present invention, residual vibration can be more effectively removed by input shaping control in consideration of attenuation, thereby further improving autofocus performance.

1 is a schematic block diagram of an apparatus for driving a voice coil actuator of a camera according to an embodiment of the present invention.
FIGS. 2A, 2B, and 2C are waveform diagrams for explaining the operation principle of input shaping applied to FIG.
3A to 3H are waveform diagrams illustrating shaping signals generated according to an embodiment of the present invention.
4A and 4B are waveform diagrams illustrating shaping signals generated according to another embodiment of the present invention.
5 is a waveform diagram showing a shaping signal generated according to another embodiment of the present invention.
FIGS. 6A and 8B are graphs of time response simulation results of shaping signals according to embodiments of the present invention. FIG.
9A and 9B are sensitivity graphs of resonant frequency errors of shaping signals according to embodiments of the present invention.
10 is a flowchart of a method of driving a voice coil actuator of a camera according to an embodiment of the present invention.

Hereinafter, an apparatus and method for driving a voice coil actuator of a camera according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram of a voice coil actuator driving apparatus for a camera according to an embodiment of the present invention.

The voice coil actuator driving apparatus 100 applies an input shaping technique using a resonance frequency peculiar to the voice coil actuator 200 in order to reduce a high resonance response characteristic of the voice coil actuator 200. [ Accordingly, the residual vibration suppression performance of the voice coil actuator 200 mounted on the camera is improved, so that the voice coil actuator 200 can be stably driven without malfunctioning, thereby realizing accurate autofocusing.

1, a voice coil actuator driving apparatus 100 used for driving a voice coil actuator 200 includes an input shaping unit 110 and a driving unit 120. The voice coil actuator driving apparatus 100 selectively drives the storage unit 130 .

The input shaping unit 110 is for suppressing the resonance of the voice coil actuator 200 as much as possible by performing input shaping that modifies the initial input of the control signal. The resonance frequency of the voice coil actuator 200 and the resonance frequency of the voice coil actuator 200 ) To generate a control signal from the original control signal with the shaping signal as an initial input.

Here, the 'initial input' of a signal means a signal form during an initial period from a start point of the signal to a predetermined point, for example, a settling time.

Modifying the 'initial input' of a signal means an input shaping technique in which the signal shape during the initial period is transformed by calculation such as convolution in order to reduce the residual vibration at the input of the corresponding signal.

As described above, as the input shaping unit 110 performs input shaping based on the resonance frequency of the voice coil actuator 200 and the attenuation of the vibration appearing in the voice coil actuator 200, thereby deforming the initial input of the raw control signal , A control signal having the shaping signal as an initial input may be generated.

The resonance frequency and the vibration damping of the voice coil actuator 200 for input shaping can be set in advance.

For example, after storing the information about the resonance frequency and the vibration attenuation for each voice coil actuator model in the storage unit 130, the resonance frequency and the vibration attenuation information for one voice coil actuator Frequency and attenuation (e.g., damping ratio) may be selected to perform input shaping based on the selected resonant frequency and attenuation.

Alternatively, the resonance frequency and the attenuation of the voice coil actuator 200 may be detected during the operation of the voice coil actuator 200, and the resonance frequency and the attenuation may be detected by feedback.

For example, the resonance frequency determined by the inductance is captured or a basic physical quantity (displacement, acceleration, vibration, etc.) is measured from a sensor (not shown) during driving of the voice coil actuator 200, Information retrieval methods can be applied.

The shaping signal may be a multi-step shaping signal having a plurality of steps or a toggle shaping signal having a toggle interval, and in particular attenuation may be applied so that the amplitude of the signal is gradually attenuated.

In this case, the above-described input shaping unit 110 considers the resonance frequency and the vibration attenuation inherent to the voice coil actuator 200 together by assuming the attenuation vibration, and applies shaping in such a manner that the signal fluctuation width is gradually attenuated It creates a signal.

Also, the shaping signal may be a newly formed convolution shaping signal by convoluting the two shaping signals. Each of the shaping signals to be convolved at this time is a multi-step shaping signal or a toggle shaping signal in which attenuation is applied as described above to gradually attenuate the signal fluctuation width.

Since the voice coil actuator 200 of a real camera is a system having an attenuation, assuming the attenuation vibration, the input resonance frequency and the attenuation are both taken into consideration, thereby reducing the residual vibration suppression performance Can be further improved.

The driving unit 120 receives a control signal from the input shaping unit 110, which receives the shaping signal as an initial input, and drives the voice coil actuator 200 connected to the rear end in response to the control signal having the input shaping.

In one embodiment, the input shaping unit 110 generates a sequence of impulses by applying a resonance frequency and an attenuation of the voice coil actuator 200, and convolutes the impulse string to a reference signal to generate a shaping signal can do. Here, the reference signal is a raw control signal that is unshaped.

The voice coil actuator 200 moves the lens module of the camera up and down.

For example, the voice coil actuator 200 includes a lower leaf spring, an upper leaf spring, a lower spring mold, and an upper spring mold for restricting vertical movement and movement of the lens module, A yoke for forming a magnetic field by a current, and the like. The voice coil actuator 200 includes a driving unit 120 for adjusting the current for actuating the actuators, a magnetic field generated by the bobbin and a magnetic field path of the yoke, ) And moves up / down.

In such a configuration, the voice coil actuator driving apparatus 100 performs input shaping with respect to the applied original control signal, thereby reducing the resonance of the voice coil actuator 200 during the autofocus operation, thereby improving the residual vibration phenomenon can do. In particular, considering the attenuation vibration of the voice coil actuator 200, attenuation is applied to shape the input, so that optimal vibration suppression is possible.

FIGS. 2A, 2B, and 2C are waveform diagrams for explaining the operation principle of input shaping applied to FIG.

2A illustrates a method of shaping an input through the same-sized impulse train without considering attenuation, whereas FIGS. 2B and 2C illustrate a method of adjusting the size of an impulse train taking into account that vibration is reduced due to attenuation.

When the reference signal of (a) is applied to one input for high-speed operation in autofocus, a relatively large residual vibration occurs, and the fixing time becomes long.

At this time, if the impulse train as shown in (b) is convoluted with the reference signal of (a) as shown in FIG. 2A, the initial input of the reference signal is changed as shown in (c) The vibration can be canceled and the residual vibration can be reduced and the fixing time can be shortened.

In the case of FIG. 2A, the impulse train is obtained by assuming a non-damped vibration in which the damping is ignored, that is, when the damping ratio is zero (infinite vibration).

Assuming non-damped vibration, the amplitudes of the impulses are all the same and the time location of the impulses is obtained by the resonance frequency inherent to the voice coil actuator 200 to be driven.

However, since the voice coil actuator 200 of the actual camera is a system having an attenuation, in order to further improve the autofocus performance by increasing the reduction effect of the residual vibration, the input shaping for the attenuation vibration is performed in consideration of the reduction of the vibration due to the attenuation .

If the magnitudes of the impulses are all given equal to each other without considering the attenuation as shown in FIG. 2A, the residual vibration reduction effect is limited. In some cases, the residual vibration may not be properly canceled and may be larger due to the initialized shape input.

Therefore, in the embodiment of the present invention, the driving apparatus 100 assumes attenuation vibration and applies the attenuation to adjust the impulse train shaping the input, so that the residual vibration suppression performance can be improved as compared with the case where the non-attenuating vibration is assumed do.

FIGS. 2B and 2C illustrate an input shaping technique considering attenuation applicable to the embodiment of the present invention.

Fig. 2B illustrates a regular damping vibration (0 < z < 1 when the damping ratio is constant). When the damping ratio is regularly determined (or the damping ratio is constant in a specific section) The input shaping unit 110 may adjust the impulse sequence that shapes the input by applying a sequential attenuation value according to the attenuation ratio.

In Fig. 2B, input shaping is implemented by convolving an arbitrary reference signal (a) and an impulse train (b) adjusted in accordance with the attenuation ratio.

(b) are obtained by the resonance frequency and the damping ratio of the voice coil actuator 200 to be driven.

For example, the damping vibration of the voice coil actuator 200 may exhibit a constant damping ratio in a specific section. In this case, the impulse string is generated by applying a damping ratio to the corresponding section, and the impulse string is convoluted to a given reference signal to perform input shaping can do.

Fig. 2C illustrates an irregular damped vibration.

In Fig. 2C, input shaping is implemented by convolving an arbitrary reference signal (a) and an adjusted impulse train (b) corresponding to the random attenuation.

(b) are obtained by the resonance frequency and attenuation of the voice coil actuator 200 to be driven.

As shown in FIGS. 2B and 2C, when the impulse train to which the voice coil actuator 200 is attenuated is generated and the generated impulse train is convoluted to the reference signal, which is a control signal of the original, to shape the input, input shaping (See FIG. 2A), the residual vibration can be more effectively removed, and the autofocus performance can be greatly improved.

FIGS. 3A through 3H are waveform diagrams illustrating a shaping signal generated according to an embodiment of the present invention, and show a multi-step shaping signal.

In one embodiment, the multi-step shaping signal is obtained by applying attenuation to a multi-step signal having a plurality of steps that gradually change from the target level to a multi-step signal shape in which the signal swing width of each step is gradually attenuated .

As described above, the input shaping unit 110 of the driving apparatus 100 performs input shaping based on the inherent resonance frequency and attenuation to suppress the residual vibration of the voice coil actuator 200 as much as possible.

Specifically, when the vibration of the voice coil actuator 200 is attenuated in consideration of the attenuation while imparting vibration of the voice coil actuator 200 by the initial input to the vibration of the voice coil actuator 200 after a certain time delay, The residual vibration of the voice coil actuator 200 can be minimized.

In one embodiment, the input shaping unit 110 of the driving apparatus 100 holds the amplitude of the control signal to be the reference signal at the target level, distributes the target level to a plurality of steps, And generates a stepped multi-step shaping signal.

In this shaping signal, the phase of the multi-step shaping signal is delayed by &quot; total phase / N &quot; at each step with respect to the number of steps N. In consideration of attenuation, each step of the multi-step shaping signal is given a step- And the signal fluctuation width of each step is gradually attenuated.

Here, the total phase means the lowest phase to the maximum phase range in one cycle.

For example, when one cycle is 0 ° to 360 °, a phase delay occurs by 360 ° / N for each step.

Alternatively, the total phase may be defined as a constant multiple of 360 ° (integer times or a multiple of several times, for example, 360 ° × 1.2 times, 360 ° × 1.5 times, 360 ° × 2 times, ...) according to the embodiment.

3A to 3D show a case in which the target level is higher than the signal level at the start point and the signal level gradually increases to reach the target level at each step. Fig. 3A shows a two-step shaping signal, Figs. 3B and 3C show N (N is a natural number between 4 and 16), and FIG. 3D shows a curve-shaped shaping signal obtained by dividing N by the number of 16 or more and increasing the number of steps.

3A, when a two-step shaping signal is input to the voice coil actuator 200 using an input shaping technique, the vibration can be removed to some extent, which can be extended to the concepts of FIGS. 3B and 3C.

When the resonance period of the voice coil actuator 200 is T vib , the target level is A, and the coefficient for each step is defined as k i , the input shaping unit 110 calculates the level k i By sequentially applying each step of the multi-step shaping signal for T vib / N so as to increase by * (A / N), T vib Shape shaping signal so that the level of the multi-step shaping signal reaches A, which is the target level.

And the phases of the respective steps are distributed such that the waveforms of the signals constituting the plurality of steps have a resonance period canceling each other.

3A, 3B and 3C, the number of steps N is 2, 4, and 8, respectively. Assuming that the target level of the control signal is A, the signal fluctuation width of each step is a i * (A / 2) , 2), b i * ( A / 4) (i = 1, 2, 3, 4), c i * (A / 8) (i = 1, 2, 3, 4, 5, 6, 7, 8 )to be.

3A, the input shaping unit 110 generates a two-step shaping signal in which the level is changed (increased) by dividing the target level into two steps, and the phase is changed to 'full phase / 2' , 360 ° / 2 = 180 °). The first step signal is applied and then the second step signal whose phase is delayed by 'total phase / 2' is applied.

Also, in consideration of attenuation, a stepwise attenuation value according to attenuation is given to each step of the two-step shaping signal, and the signal fluctuation width of each step is gradually attenuated to a 1 , a 2 .

3A, the input shaping unit 110 generates a vibration that is opposite in phase to the vibration of the first step signal applied first by using the second step signal, The residual vibration of the coil actuator 200 is suppressed.

Further, in consideration of the damping vibration of the voice coil actuator 200, the signal fluctuation width in step units is attenuated by a 1 and a 2 in accordance with attenuation, thereby further improving the residual vibration reduction effect.

FIGS. 3b-3d extend the principle of FIG. 3a with an N-step shaping signal having between 4 and 16 steps and a curve-shaped shaping signal having more than 16 steps.

3B and 3C, the input shaping unit 110 divides the target level into N steps, which are natural numbers of 4 or more and 16 or less, to generate an N-step shaping signal whose level sequentially changes (increases) The step is attenuated so that the attenuation value of each step is attenuated at each step of the multi-step shaping signal in accordance with the attenuation to gradually attenuate the signal fluctuation width of each step .

In the case of the 4-step shaping signal illustrated in FIG. 3B, the phases are constantly delayed in the first, second, third, and fourth step signals, for example, 0 °, 90 °, 180 °, The amplitude of the signal is gradually attenuated by the attenuation.

3C is an illustration of an 8-step shaping signal.

As shown in FIGS. 3B and 3C, the shaping signal can be applied by further subdividing the step of FIG. 3A and applying a step-wise attenuation value according to the attenuation. Through the multi-step method, the vibration of the voice coil actuator 200 can be suppressed to the utmost can do.

This input shaping technique that refines each step of the shaping signal can be extended to a shaping signal that extends the number of steps to 16 or more and implements a curve type as shown in FIG. 3D.

The vibration characteristics are excellent in the order of 2-step < 4-step < 8-step < As the number of steps of the multi-step shaping signal increases, the amplitude of each sinusoidal waveform due to the resonance of the step signal becomes smaller. Therefore, even if an error occurs in the input shaping process, less vibration occurs.

In the case of performing curve type input shaping in FIG. 3D, the input shaping unit 110 finely distributes the steps of the shaping signal to 16 or more, and shapes the initial input of the control signal to realize a curve type as shown in FIG. 3D.

At this time, the input shaping unit 110 divides the target level into 16 or more steps, and attenuates the attenuation to give a step-wise attenuation value, thereby attenuating the signal fluctuation width of each step gradually, thereby generating a curved shaping signal whose level changes gently can do.

Figs. 3E to 3H show the case where the target level is lower than the signal level at the starting point, Fig. 3E shows a two-step shaping signal, Fig. 3F and Fig. 3G show steps with N (N is a natural number between 4 and 16) FIG. 3H illustrates curve-shaped shaping signals obtained by expanding the number of steps by dividing N by the number of 16 or more.

When the input shaping unit 110 has a resonance period of the voice coil actuator (200) T vib, the target level is A, step by coefficients k i, the level of each step with respect to the step number N k i * (A / N) By sequentially applying each step of the multi-step shaping signal for T vib / N such that T vib Shape shaping signal so that the level of the multi-step shaping signal reaches A, which is the target level.

And the phases of the respective steps are distributed such that the waveforms of the signals constituting the plurality of steps have a resonance period canceling each other.

3E, the input shaping unit 110 divides the target level into two steps to generate a two-step shaping signal whose level changes (decreases), and the phase is changed to 'full phase / 2' , 360 ° / 2 = 180 °).

Also, in consideration of attenuation, a stepwise attenuation value according to attenuation is given to each step of the two-step shaping signal, and the signal fluctuation width of each step is gradually attenuated to a 1 , a 2 .

In the case of FIGS. 3F and 3G, the input shaping unit 110 divides the target level into N steps, which are natural numbers of 4 or more and 16 or less, to generate an N-step shaping signal whose level sequentially changes (decreases) The step is attenuated so that the attenuation value of each step is attenuated at each step of the multi-step shaping signal in accordance with the attenuation to gradually attenuate the signal fluctuation width of each step .

In the case of the 4-step shaping signal illustrated in FIG. 3F, the phase is constantly delayed in the first, second, third, and fourth step signals, for example, 0 °, 90 °, 180 °, The amplitude of the signal is gradually attenuated by the attenuation.

FIG. 3G is an example of an 8-step shaping signal, and has a form in which the signal fluctuation width in step units is gradually attenuated with attenuation.

FIG. 3H shows a curve shape in which the level is gradually changed by attenuating the signal fluctuation width of each step by giving a step-by-step attenuation value corresponding to the attenuation while expanding the number of steps of the multi-step shaping signal to 16 or more .

4A and 4B are waveform diagrams illustrating shaping signals generated according to another embodiment of the present invention.

In another embodiment, the toggle shaping signal is obtained by applying an attenuation to a toggle signal having one or more times of switching between two signal levels of a low level and a high level. The attenuation is applied so that the toggle signal form in which the signal fluctuation width of each edge is progressively attenuated .

The input shaping unit 110 generates and outputs a toggle shaping signal having a toggle interval at the time of input shaping, sequentially assigns an attenuation value to each toggle edge of the toggle shaping signal in accordance with the attenuation, Gradually attenuates.

In the toggle interval, the shaping signal is repeated one or more times from high to low, and attenuation is applied to gradually attenuate the signal swing of each toggle edge (rising edge and falling edge).

For example, in the case of Figure 4a the signal fluctuation width of each toggle edge d 1, d 2, d 3 attenuation is changed to, and the case of Figure 4b the signal fluctuation width of each toggle edges e 1, e 2, e 3, e 4 , and e 5 , respectively.

When the toggle shaping signal is applied, the fixation time is shortened as compared with the case where the attenuation is not taken into consideration, and the vibration of the voice coil actuator 200 can be shifted to the target level while canceling the vibration of the voice coil actuator 200 in a shorter time. Since the partial signals having attenuation values cancel each other out, an improved residual vibration reduction effect can be obtained compared to the case of shaping the input without consideration of attenuation.

5 is a waveform diagram showing a shaping signal generated according to another embodiment of the present invention.

The input shaping unit 110 may generate a convolution shaping signal for modulating the initial input of the control signal by convoluting the first shaping signal and the second shaping signal to remove the resonance of the voice coil actuator 200.

5 illustrates a case where a convolution shaping signal of a new type as shown in (c) is generated by convoluting the first shaping signal of (a) and the second shaping signal of (b).

Each step is applied for T vib / 2, and the signal size increases by a i * (A / 2) step by step. (B) A convolution shaping signal changing as shown in (c) can be obtained.

As such, the input shaping unit 110 may generate various input waveforms through convolution to reduce the vibration of the voice coil actuator 200 in the camera.

The input generated by the convolution is obtained by convoluting the first shaping signal and the second shaping signal with each other, and may be various forms according to the convolution method.

Here, each of the first and second shaping signals is a signal in which attenuation is applied so that the amplitude of the signal is gradually attenuated. The signal includes a two-step shaping signal, a multi-step shaping signal having a plurality of steps A curve shaped shaping signal having more than 16 steps, a toggle shaping signal, and the like.

6A-8B are time response graphs of shaping signals in accordance with embodiments of the present invention.

6A is a time response when an input is shaped using a multi-step shaping signal without considering attenuation, and FIG. 6B is a time response when an input is shaped using a multi-step shaping signal considering attenuation.

FIG. 7A is a time response when the input is shaped using a toggle shaping signal that does not take attenuation, and FIG. 7B is a time response when the input is shaped using a toggle shaping signal considering attenuation.

8A is a time response when shaping an input using a convolution shaping signal without considering attenuation, and FIG. 8B is a time response when shaping an input using a convolution shaping signal considering attenuation.

Compared to the case of assuming the non-damped vibration of FIGS. 6A, 7A and 8A, when the damping vibrations of FIGS. 6B, 7B and 8B are assumed, the fixing time is short and the vibration characteristics It can be confirmed that it is excellent.

9A and 9B are sensitivity graphs of resonant frequency errors of shaping signals according to embodiments of the present invention.

FIG. 9A compares the sensitivity of the case where the attenuation is not taken into consideration (G10) and the case where the attenuation is considered according to the embodiment of the present invention (G20).

The relationship between the resonance frequency (F) and the error rate is as follows. Since the error rate curve G20 in the case of attenuation is lower than the error rate curve G10 in the case where the attenuation is not taken into consideration, It can be seen that the error rate characteristic is better when the signal is adjusted.

That is, if the shaping signal is adjusted in consideration of the attenuation, the error rate is small even when the resonance period is exceeded, and the residual vibration is less than the non-attenuation method.

9B is a graph showing a sensitivity graph according to the kind of shaping signals. The sensitivity characteristic of the toggle shaping signal G21, the multi-step shaping signal G22, and the convolution shaping signal G23, Respectively.

The shaping signals considering the attenuation can improve the residual vibration suppression performance compared with the case where the undamped vibration is assumed. Further, the type of the shaping signal can be selectively applied to the desired condition based on the sensitivity characteristic.

In the case of the convolution shaping signal, even if the signal is out of the resonance period as shown in the figure, the error rate due to vibration appears to be a very small value, so that the resonance can be canceled most insensitively to the error (see G23).

10 is a flowchart of a method of driving a voice coil actuator of a camera according to an embodiment of the present invention.

The voice coil actuator driving apparatus 100 first generates a reference signal according to an arbitrary user command through digital-analog conversion (S110). At this time, the reference signal is a raw control signal that is not shaped.

Then, the driving apparatus 100 generates an impulse string required for input shaping based on the resonance frequency of the voice coil actuator 200 and the attenuation of the vibration appearing in the voice coil actuator 200 (S120).

The impulse train is composed of impulses whose magnitudes are adjusted according to attenuation. The application time and magnitude of the impulses constituting the impulse train can be determined by the resonance frequency of the voice coil actuator 200 and the vibration attenuation of the voice coil actuator 200 have.

At this time, the resonance frequency and the attenuation of the voice coil actuator 200 for input shaping may be set in advance or may be detected and fed back during the operation of the voice coil actuator 200.

Thereafter, the driving apparatus 100 performs input shaping that transforms the initial input of the control signal using the impulse string generated in S120 (S130).

At this time, the original control signal generated in S110 and the impulse train generated in S120 may be convoluted to generate an input-shaped control signal having the shaping signal as an initial input.

The shaping signal, which is the initial input of the control signal, is a signal in which attenuation is applied to attenuate the amplitude of the signal gradually. The shaping signal includes the above-mentioned two-step shaping signal, a multi-step shaping signal having a plurality of steps between 4 and 16, A curve-shaped shaping signal having more than 16 steps, a toggle shaping signal, and the like.

Alternatively, the shaping signal may be a convolution shaping signal obtained by convoluting pure shaping signals with each other. At this time, each shaping signal to be convoluted is attenuated gradually in accordance with the vibration attenuation of the voice coil actuator 200. The shaping signal is a two-step shaping signal, a multi-step signal having a plurality of steps between 4 and 16- Shaping signals, curve-shaped shaping signals, and toggle shaping signals.

When the shaping signal is a toggle shaping signal having a toggle interval, the driving apparatus 100 may attenuate the signal fluctuation width of each toggle edge by applying an attenuation value to each toggle edge of the toggle shaping signal in accordance with the attenuation.

When the shaping signal is a two-step shaping signal, the driving apparatus 100 generates a two-step shaping signal by dividing the target level into two steps, and delays the phase by 'all phases / 2' The signal fluctuation width of each step can be gradually attenuated by applying a stepwise attenuation value to each step of the two-step shaping signal according to the attenuation.

When the shaping signal is an N-step (N is a natural number between 4 and 16) shaping signals, the driving apparatus 100 divides the target level into N steps to generate an N-step shaping signal whose level sequentially changes , The phase is delayed by 'full phase / N' for each step, and the signal fluctuation width of each step is gradually attenuated by applying step-by-step attenuation to each step of the N-step shaping signal in accordance with attenuation.

In addition, the driving apparatus 100 divides the number of steps N of the N-step shaping signal by the number of 16 or more, divides the target level into 16 or more steps, applies step-by-step attenuation values to the respective steps in accordance with the attenuation, It is also possible to generate a curved shaping signal in which the level gradually changes by attenuating the signal fluctuation width gradually.

When the shaping signal is an N-step shaping signal having N (N = 2, or 4 to 10, or 16 or more) steps as described above, the driving apparatus 100 calculates the resonance period T vib of the voice coil actuator, A, step-by-step coefficient k i , each step is sequentially applied to T vib / N so that the level is increased or decreased by k i * (A / N) step by step with respect to the multi-step shaping signal of step number N So that the level of the multi-step shaping signal can reach A within T vib .

In addition, the driving apparatus 100 can distribute the phase of each step so that the waveforms of the signals constituting the plurality of steps have a resonance period canceling each other.

In this way, the voice coil actuator driving apparatus 100 performs input shaping based on the resonance frequency of the voice coil actuator 200 and the vibration attenuation appearing in the voice coil actuator 200 to generate a shaping signal As the initial input.

Thereafter, the driving apparatus 100 drives the voice coil actuator 200 connected to the rear end by performing operations such as level shifting and current supply based on the input shaping control signal (S140).

The configuration of the apparatus for driving the voice coil actuator of the camera according to the present invention and the method thereof are not limited to the above embodiments but can be variously modified within the scope of the technical idea of the present invention.

100: Driving device
110: input shaping unit
120:
200: Voice coil actuator

Claims (20)

An input shaping unit for performing input shaping based on the resonance frequency of the voice coil actuator and the attenuation of the vibration appearing in the voice coil actuator to generate a control signal for initializing the shaping signal from the raw control signal; And
And a driving unit for driving the voice coil actuator by a control signal having an input shaping provided in the input shaping unit. The method according to claim 1,
Wherein the shaping signal is a multi-step shaping signal or a toggle shaping signal, the attenuation being applied to attenuate a signal fluctuation width gradually. The apparatus of claim 1, wherein the input shaping unit comprises:
And generating the shaping signal by generating an impulse train corresponding to the resonance frequency and the attenuation, and generating the shaping signal by convoluting the generated impulse train with a reference signal. The apparatus of claim 1, wherein the input shaping unit comprises:
Generating a toggle shaping signal having a toggle interval,
And applying the attenuation value to each toggle edge of the toggle shaping signal according to the attenuation to gradually attenuate the signal fluctuation width of each toggle edge. The apparatus of claim 1, wherein the input shaping unit comprises:
Dividing the target level into a plurality of steps to generate a multi-step shaping signal in which levels sequentially change, and outputting the phase by delaying the phases by 'all phases / N'
And applying a step-wise attenuation value to each step of the multi-step shaping signal according to the attenuation to gradually attenuate the signal fluctuation width of each step. 6. The method of claim 5,
Wherein the total phase is 360 DEG. 6. The method of claim 5,
Wherein the total phase is defined as an integral multiple or a multiple of 360 degrees. 6. The apparatus of claim 5, wherein the input shaping unit comprises:
When the resonance period of the voice coil actuator is T vib , the target level is A, and the coefficient per step is k i ,
Of the step number N multi-applied to each step so that the level of each step with respect to the step-shaping signal k i * (A / N) increased by as much as or decreased in order for T vib / N by the multi within T vib-step shaping signal Of the voice coil actuator of the camera. 6. The apparatus of claim 5, wherein the input shaping unit comprises:
And distributes the phase of each step so that the waveforms of the signals constituting the plurality of steps have a resonance period canceled each other. The apparatus of claim 1, wherein the input shaping unit comprises:
Generating a shaping signal by convoluting a first shaping signal and a second shaping signal,
Wherein each of the first shaping signal and the second shaping signal includes:
Wherein the attenuation is applied as a multi-step shaping signal or a toggle shaping signal so that the amplitude of the signal is gradually attenuated. A first step of performing input shaping based on the resonance frequency of the voice coil actuator and the attenuation of the vibration appearing in the voice coil actuator to generate a control signal having the shaping signal as an initial input from the original control signal; And
And a second step of driving the voice coil actuator based on the input shaping control signal. 12. The method of claim 11,
Wherein the shaping signal is a multi-step shaping signal or a toggle shaping signal, and the attenuation is applied to attenuate a signal fluctuation width gradually. 12. The method according to claim 11,
Generating a reference signal;
Generating an impulse train corresponding to the resonant frequency and the attenuation; And
And generating a control signal by initializing the shaping signal by convoluting the generated impulse train with the reference signal. 12. The method of claim 11, wherein in the first step,
Generating a toggle shaping signal having a toggle interval,
And applying a damping value to each toggle edge of the toggle shaping signal in accordance with the attenuation to gradually attenuate the signal swing width of each toggle edge. 12. The method of claim 11, wherein in the first step,
Dividing the target level into a plurality of steps to generate a multi-step shaping signal in which levels sequentially change, and outputting the phase by delaying the phases by 'all phases / N'
And applying a stepwise attenuation value to each step of the multi-step shaping signal in accordance with the attenuation to gradually attenuate the signal fluctuation width of each step. 16. The method of claim 15,
Wherein the total phase is 360 DEG. 16. The method of claim 15,
Wherein the total phase is defined as an integral multiple or a multiple of 360 [deg.]. 16. The method according to claim 15, wherein, in the first step,
When the resonance period of the voice coil actuator is T vib , the target level is A, and the coefficient per step is k i ,
Of the step number N multi-applied to each step so that the level of each step with respect to the step-shaping signal k i * (A / N) increased by as much as or decreased in order for T vib / N by the multi within T vib-step shaping signal To a level A of the voice coil actuator. 16. The method according to claim 15, wherein, in the first step,
And distributing the phase of each step so that the waveforms of the signals constituting the plurality of steps have a resonance period canceled each other. 12. The method of claim 11, wherein in the first step,
Generating a shaping signal by convoluting a first shaping signal and a second shaping signal,
Wherein each of the first shaping signal and the second shaping signal includes:
Wherein the attenuation is applied as a multi-step shaping signal or a toggle shaping signal so that the amplitude of the signal is gradually attenuated.
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PCT/KR2016/004155 WO2016175503A2 (en) 2015-04-27 2016-04-21 Device for driving voice coil actuator in camera and method therefor
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